Dzmitry Savitski, Dmitrij Schleinin, Valentin Ivanov, Klaus Augsburg, Emilio Jimenez, Rui He, Corina Sandu, Phil Barber
Journal of Terramechanics, Volume 69, February 2017, Pages 33-43, ISSN 0022-4898, http://dx.doi.org/10.1016/j.jterra.2016.10.005.
http://www.sciencedirect.com/science/article/pii/S0022489816300647
Abstract:
To control speed and wheel slip for severe conditions of tire-surface interaction is a challenging task in the design of traction control system for electric vehicles with off-road capability. In this regard, the present paper focuses on a specific traction control for an electric vehicle with four individual in-wheel motors over icy road. The study demonstrates that a proper integration of the speed controller and wheel slip controller can essentially improve the mobility of the vehicle in the cases of acceleration and slope climbing. The paper discusses relevant case studies with particular attention given to the system architecture (sliding mode and PID control methods), extremum-seeking algorithm for maximum tire-road friction and corresponding slip value, and experimental validation of the tire model used in the controller with the help of the Terramechanics Rig in the Advanced Vehicle Dynamics Laboratory (AVDL) at Virginia Polytechnic Institute and State University.
Keywords: Traction control; Speed control; Wheel slip control; Electric vehicle; Tire-ice interaction